#include "LSM303A.h"
#include "LSM303M.h"
#include "L3G4200D.h"
#include "rpi.h"
#include "stdio.h"
#include "mathtools.h"
#include "imu.h"

int main()
{
  RPi::initialize();



  LSM303A  acc(RPi::i2cFile());
  LSM303M  mag(RPi::i2cFile());
  L3G4200D gyr(RPi::i2cFile());

  while (true)
  {
    acc.read();
    mag.read();
    gyr.read();
    
    acc.a.print();
    mag.m.print();
    gyr.g.print();
    printf("\n");
  }


}
